OpenRaiser/Intern-Atlas huggingface dataset:
Flat'n'Fold: A Diverse Multi-Modal Dataset for Garment Perception and Manipulation
Venue: arXiv cs.RO 2024
Year: 2024

We present Flat'n'Fold, a novel large-scale dataset for garment manipulation that addresses critical gaps in existing datasets. Comprising 1,212 human and 887 robot demonstrations of flattening and folding 44 unique garments across 8 categories, Flat'n'Fold surpasses prior datasets in size, scope, and diversity. Our dataset uniquely captures the entire manipulation process from crumpled to folded states, providing synchronized multi-view RGB-D images, point clouds, and action data, including hand or gripper positions and rotations. We quantify the dataset's diversity and complexity compared to existing benchmarks and show that our dataset features natural and diverse manipulations of real-world demonstrations of human and robot demonstrations in terms of visual and action information. To showcase Flat'n'Fold's utility, we establish new benchmarks for grasping point prediction and subtask decomposition. Our evaluation of state-of-the-art models on these tasks reveals significant room for improvement. This underscores Flat'n'Fold's potential to drive advances in robotic perception and manipulation of deformable objects. Our dataset can be downloaded at https://cvas-ug.github.io/flat-n-fold
Automated Segmentation and Analysis of Microscopy Images of Laser Powder Bed Fusion Melt Tracks
Venue: arXiv cs.CV 2024
Year: 2024

With the increasing adoption of metal additive manufacturing (AM), researchers and practitioners are turning to data-driven approaches to optimise printing conditions. Cross-sectional images of melt tracks provide valuable information for tuning process parameters, developing parameter scaling data, and identifying defects. Here we present an image segmentation neural network that automatically identifies and measures melt track dimensions from a cross-section image. We use a U-Net architecture to train on a data set of 62 pre-labelled images obtained from different labs, machines, and materials coupled with image augmentation. When neural network hyperparameters such as batch size and learning rate are properly tuned, the learned model shows an accuracy for classification of over 99% and an F1 score over 90%. The neural network exhibits robustness when tested on images captured by various users, printed on different machines, and acquired using different microscopes. A post-processing module extracts the height and width of the melt pool, and the wetting angles. We discuss opportunities to improve model performance and avenues for transfer learning, such as extension to other AM processes such as directed energy deposition.
You Only Speak Once to See
Venue: arXiv cs.CV 2024
Year: 2024

Grounding objects in images using visual cues is a well-established approach in computer vision, yet the potential of audio as a modality for object recognition and grounding remains underexplored. We introduce YOSS, "You Only Speak Once to See," to leverage audio for grounding objects in visual scenes, termed Audio Grounding. By integrating pre-trained audio models with visual models using contrastive learning and multi-modal alignment, our approach captures speech commands or descriptions and maps them directly to corresponding objects within images. Experimental results indicate that audio guidance can be effectively applied to object grounding, suggesting that incorporating audio guidance may enhance the precision and robustness of current object grounding methods and improve the performance of robotic systems and computer vision applications. This finding opens new possibilities for advanced object recognition, scene understanding, and the development of more intuitive and capable robotic systems.
Robo-CSK-Organizer: Commonsense Knowledge to Organize Detected Objects for Multipurpose Robots
Venue: arXiv cs.RO 2024
Year: 2024

This paper presents a system called Robo-CSK-Organizer that infuses commonsense knowledge from a classical knowledge based to enhance the context recognition capabilities of robots so as to facilitate the organization of detected objects by classifying them in a task-relevant manner. It is particularly useful in multipurpose robotics. Unlike systems relying solely on deep learning tools such as ChatGPT, the Robo-CSK-Organizer system stands out in multiple avenues as follows. It resolves ambiguities well, and maintains consistency in object placement. Moreover, it adapts to diverse task-based classifications. Furthermore, it contributes to explainable AI, hence helping to improve trust and human-robot collaboration. Controlled experiments performed in our work, simulating domestic robotics settings, make Robo-CSK-Organizer demonstrate superior performance while placing objects in contextually relevant locations. This work highlights the capacity of an AI-based system to conduct commonsense-guided decision-making in robotics closer to the thresholds of human cognition. Hence, Robo-CSK-Organizer makes positive impacts on AI and robotics.
Simpler Gradient Methods for Blind Super-Resolution with Lower Iteration Complexity
Venue: arXiv cs.IT 2024
Year: 2024

We study the problem of blind super-resolution, which can be formulated as a low-rank matrix recovery problem via vectorized Hankel lift (VHL). The previous gradient descent method based on VHL named PGD-VHL relies on additional regularization such as the projection and balancing penalty, exhibiting a suboptimal iteration complexity. In this paper, we propose a simpler unconstrained optimization problem without the above two types of regularization and develop two new and provable gradient methods named VGD-VHL and ScalGD-VHL. A novel and sharp analysis is provided for the theoretical guarantees of our algorithms, which demonstrates that our methods offer lower iteration complexity than PGD-VHL. In addition, ScalGD-VHL has the lowest iteration complexity while being independent of the condition number. Furthermore, our novel analysis reveals that the blind super-resolution problem is less incoherence-demanding, thereby eliminating the necessity for incoherent projections to achieve linear convergence. Empirical results illustrate that our methods exhibit superior computational efficiency while achieving comparable recovery performance to prior arts.
Query matching for spatio-temporal action detection with query-based object detector
Venue: arXiv cs.CV 2024
Year: 2024

In this paper, we propose a method that extends the query-based object detection model, DETR, to spatio-temporal action detection, which requires maintaining temporal consistency in videos. Our proposed method applies DETR to each frame and uses feature shift to incorporate temporal information. However, DETR's object queries in each frame may correspond to different objects, making a simple feature shift ineffective. To overcome this issue, we propose query matching across different frames, ensuring that queries for the same object are matched and used for the feature shift. Experimental results show that performance on the JHMDB21 dataset improves significantly when query features are shifted using the proposed query matching.
A physics-driven sensor placement optimization methodology for temperature field reconstruction
Venue: arXiv cs.LG 2024
Year: 2024

Perceiving the global field from sparse sensors has been a grand challenge in the monitoring, analysis, and design of physical systems. In this context, sensor placement optimization is a crucial issue. Most existing works require large and sufficient data to construct data-based criteria, which are intractable in data-free scenarios without numerical and experimental data. To this end, we propose a novel physics-driven sensor placement optimization (PSPO) method for temperature field reconstruction using a physics-based criterion to optimize sensor locations. In our methodological framework, we firstly derive the theoretical upper and lower bounds of the reconstruction error under noise scenarios by analyzing the optimal solution, proving that error bounds correlate with the condition number determined by sensor locations. Furthermore, the condition number, as the physics-based criterion, is used to optimize sensor locations by the genetic algorithm. Finally, the best sensors are validated by reconstruction models, including non-invasive end-to-end models, non-invasive reduced-order models, and physics-informed models. Experimental results, both on a numerical and an application case, demonstrate that the PSPO method significantly outperforms random and uniform selection methods, improving the reconstruction accuracy by nearly an order of magnitude. Moreover, the PSPO method can achieve comparable reconstruction accuracy to the existing data-driven placement optimization methods.
Get It For Free: Radar Segmentation without Expert Labels and Its Application in Odometry and Localization
Venue: arXiv cs.RO 2024
Year: 2024

This paper presents a novel weakly supervised semantic segmentation method for radar segmentation, where the existing LiDAR semantic segmentation models are employed to generate semantic labels, which then serve as supervision signals for training a radar semantic segmentation model. The obtained radar semantic segmentation model outperforms LiDAR-based models, providing more consistent and robust segmentation under all-weather conditions, particularly in the snow, rain and fog. To mitigate potential errors in LiDAR semantic labels, we design a dedicated refinement scheme that corrects erroneous labels based on structural features and distribution patterns. The semantic information generated by our radar segmentation model is used in two downstream tasks, achieving significant performance improvements. In large-scale radar-based localization using OpenStreetMap, it leads to localization error reduction by 20.55\% over prior methods. For the odometry task, it improves translation accuracy by 16.4\% compared to the second-best method, securing the first place in the radar odometry competition at the Radar in Robotics workshop of ICRA 2024, Japan
Cost-Aware Dynamic Cloud Workflow Scheduling using Self-Attention and Evolutionary Reinforcement Learning
Venue: arXiv cs.AI 2024
Year: 2024

The Cost-aware Dynamic Multi-Workflow Scheduling (CDMWS) in the cloud is a kind of cloud workflow management problem, which aims to assign virtual machine (VM) instances to execute tasks in workflows so as to minimize the total costs, including both the penalties for violating Service Level Agreement (SLA) and the VM rental fees. Powered by deep neural networks, Reinforcement Learning (RL) methods can construct effective scheduling policies for solving CDMWS problems. Traditional policy networks in RL often use basic feedforward architectures to separately determine the suitability of assigning any VM instances, without considering all VMs simultaneously to learn their global information. This paper proposes a novel self-attention policy network for cloud workflow scheduling (SPN-CWS) that captures global information from all VMs. We also develop an Evolution Strategy-based RL (ERL) system to train SPN-CWS reliably and effectively. The trained SPN-CWS can effectively process all candidate VM instances simultaneously to identify the most suitable VM instance to execute every workflow task. Comprehensive experiments show that our method can noticeably outperform several state-of-the-art algorithms on multiple benchmark CDMWS problems.
Towards Personal Data Sharing Autonomy:A Task-driven Data Capsule Sharing System
Venue: arXiv cs.CR 2024
Year: 2024

Personal data custodian services enable data owners to share their data with data consumers in a convenient manner, anytime and anywhere. However, with data hosted in these services being beyond the control of the data owners, it raises significant concerns about privacy in personal data sharing. Many schemes have been proposed to realize fine-grained access control and privacy protection in data sharing. However, they fail to protect the rights of data owners to their data under the law, since their designs focus on the management of system administrators rather than enhancing the data owners' privacy. In this paper, we introduce a novel task-driven personal data sharing system based on the data capsule paradigm realizing personal data sharing autonomy. It enables data owners in our system to fully control their data, and share it autonomously. Specifically, we present a tamper-resistant data capsule encapsulation method, where the data capsule is the minimal unit for independent and secure personal data storage and sharing. Additionally, to realize selective sharing and informed-consent based authorization, we propose a task-driven data sharing mechanism that is resistant to collusion and EDoS attacks. Furthermore, by updating parts of the data capsules, the permissions granted to data consumers can be immediately revoked. Finally, we conduct a security and performance analysis, proving that our scheme is correct, sound, and secure, as well as revealing more advantageous features in practicality, compared with the state-of-the-art schemes.
Review of Digital Asset Development with Graph Neural Network Unlearning
Venue: arXiv cs.LG 2024
Year: 2024

In the rapidly evolving landscape of digital assets, the imperative for robust data privacy and compliance with regulatory frameworks has intensified. This paper investigates the critical role of Graph Neural Networks (GNNs) in the management of digital assets and introduces innovative unlearning techniques specifically tailored to GNN architectures. We categorize unlearning strategies into two primary classes: data-driven approximation, which manipulates the graph structure to isolate and remove the influence of specific nodes, and model-driven approximation, which modifies the internal parameters and architecture of the GNN itself. By examining recent advancements in these unlearning methodologies, we highlight their applicability in various use cases, including fraud detection, risk assessment, token relationship prediction, and decentralized governance. We discuss the challenges inherent in balancing model performance with the requirements for data unlearning, particularly in the context of real-time financial applications. Furthermore, we propose a hybrid approach that combines the strengths of both unlearning strategies to enhance the efficiency and effectiveness of GNNs in digital asset ecosystems. Ultimately, this paper aims to provide a comprehensive framework for understanding and implementing GNN unlearning techniques, paving the way for secure and compliant deployment of machine learning in the digital asset domain.
SmartReco: Detecting Read-Only Reentrancy via Fine-Grained Cross-DApp Analysis
Venue: arXiv cs.SE 2024
Year: 2024

Despite the increasing popularity of Decentralized Applications (DApps), they are suffering from various vulnerabilities that can be exploited by adversaries for profits. Among such vulnerabilities, Read-Only Reentrancy (called ROR in this paper), is an emerging type of vulnerability that arises from the complex interactions between DApps. In the recent three years, attack incidents of ROR have already caused around 30M USD losses to the DApp ecosystem. Existing techniques for vulnerability detection in smart contracts can hardly detect Read-Only Reentrancy attacks, due to the lack of tracking and analyzing the complex interactions between multiple DApps. In this paper, we propose SmartReco, a new framework for detecting Read-Only Reentrancy vulnerability in DApps through a novel combination of static and dynamic analysis (i.e., fuzzing) over smart contracts. The key design behind SmartReco is threefold: (1) SmartReco identifies the boundary between different DApps from the heavy-coupled cross-contract interactions. (2) SmartReco performs fine-grained static analysis to locate points of interest (i.e., entry functions) that may lead to ROR. (3) SmartReco utilizes the on-chain transaction data and performs multi-function fuzzing (i.e., the entry function and victim function) across different DApps to verify the existence of ROR. Our evaluation of a manual-labeled dataset with 45 RORs shows that SmartReco achieves a precision of 88.63% and a recall of 86.36%. In addition, SmartReco successfully detects 43 new RORs from 123 popular DApps. The total assets affected by such RORs reach around 520,000 USD.
Fairness without Sensitive Attributes via Knowledge Sharing
Venue: arXiv cs.LG 2024
Year: 2024

While model fairness improvement has been explored previously, existing methods invariably rely on adjusting explicit sensitive attribute values in order to improve model fairness in downstream tasks. However, we observe a trend in which sensitive demographic information becomes inaccessible as public concerns around data privacy grow. In this paper, we propose a confidence-based hierarchical classifier structure called "Reckoner" for reliable fair model learning under the assumption of missing sensitive attributes. We first present results showing that if the dataset contains biased labels or other hidden biases, classifiers significantly increase the bias gap across different demographic groups in the subset with higher prediction confidence. Inspired by these findings, we devised a dual-model system in which a version of the model initialised with a high-confidence data subset learns from a version of the model initialised with a low-confidence data subset, enabling it to avoid biased predictions. Our experimental results show that Reckoner consistently outperforms state-of-the-art baselines in COMPAS dataset and New Adult dataset, considering both accuracy and fairness metrics.
Data Analysis in the Era of Generative AI
Venue: arXiv cs.AI 2024
Year: 2024

This paper explores the potential of AI-powered tools to reshape data analysis, focusing on design considerations and challenges. We explore how the emergence of large language and multimodal models offers new opportunities to enhance various stages of data analysis workflow by translating high-level user intentions into executable code, charts, and insights. We then examine human-centered design principles that facilitate intuitive interactions, build user trust, and streamline the AI-assisted analysis workflow across multiple apps. Finally, we discuss the research challenges that impede the development of these AI-based systems such as enhancing model capabilities, evaluating and benchmarking, and understanding end-user needs.
HSTFL: A Heterogeneous Federated Learning Framework for Misaligned Spatiotemporal Forecasting
Venue: arXiv cs.LG 2024
Year: 2024

Spatiotemporal forecasting has emerged as an indispensable building block of diverse smart city applications, such as intelligent transportation and smart energy management. Recent advancements have uncovered that the performance of spatiotemporal forecasting can be significantly improved by integrating knowledge in geo-distributed time series data from different domains, \eg enhancing real-estate appraisal with human mobility data; joint taxi and bike demand predictions. While effective, existing approaches assume a centralized data collection and exploitation environment, overlooking the privacy and commercial interest concerns associated with data owned by different parties. In this paper, we investigate multi-party collaborative spatiotemporal forecasting without direct access to multi-source private data. However, this task is challenging due to 1) cross-domain feature heterogeneity and 2) cross-client geographical heterogeneity, where standard horizontal or vertical federated learning is inapplicable. To this end, we propose a Heterogeneous SpatioTemporal Federated Learning (HSTFL) framework to enable multiple clients to collaboratively harness geo-distributed time series data from different domains while preserving privacy. Specifically, we first devise vertical federated spatiotemporal representation learning to locally preserve spatiotemporal dependencies among individual participants and generate effective representations for heterogeneous data. Then we propose a cross-client virtual node alignment block to incorporate cross-client spatiotemporal dependencies via a multi-level knowledge fusion scheme. Extensive privacy analysis and experimental evaluations demonstrate that HSTFL not only effectively resists inference attacks but also provides a significant improvement against various baselines.
Decomposing the Jaccard Distance and the Jaccard Index in ABCDE
Venue: arXiv cs.IR 2024
Year: 2024

ABCDE is a sophisticated technique for evaluating differences between very large clusterings. Its main metric that characterizes the magnitude of the difference between two clusterings is the JaccardDistance, which is a true distance metric in the space of all clusterings of a fixed set of (weighted) items. The JaccardIndex is the complementary metric that characterizes the similarity of two clusterings. Its relationship with the JaccardDistance is simple: JaccardDistance + JaccardIndex = 1. This paper decomposes the JaccardDistance and the JaccardIndex further. In each case, the decomposition yields Impact and Quality metrics. The Impact metrics measure aspects of the magnitude of the clustering diff, while Quality metrics use human judgements to measure how much the clustering diff improves the quality of the clustering. The decompositions of this paper offer more and deeper insight into a clustering change. They also unlock new techniques for debugging and exploring the nature of the clustering diff. The new metrics are mathematically well-behaved and they are interrelated via simple equations. While the work can be seen as an alternative formal framework for ABCDE, we prefer to view it as complementary. It certainly offers a different perspective on the magnitude and the quality of a clustering change, and users can use whatever they want from each approach to gain more insight into a change.
Privacy-Preserving Quantum Annealing for Quadratic Unconstrained Binary Optimization (QUBO) Problems
Venue: arXiv cs.CR 2024
Year: 2024

Quantum annealers offer a promising approach to solve Quadratic Unconstrained Binary Optimization (QUBO) problems, which have a wide range of applications. However, when a user submits its QUBO problem to a third-party quantum annealer, the problem itself may disclose the user's private information to the quantum annealing service provider. To mitigate this risk, we introduce a privacy-preserving QUBO framework and propose a novel solution method. Our approach employs a combination of digit-wise splitting and matrix permutation to obfuscate the QUBO problem's model matrix $Q$, effectively concealing the matrix elements. In addition, based on the solution to the obfuscated version of the QUBO problem, we can reconstruct the solution to the original problem with high accuracy. Theoretical analysis and empirical tests confirm the efficacy and efficiency of our proposed technique, demonstrating its potential for preserving user privacy in quantum annealing services.